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Hybrid control of multi-robot systems using embedded graph grammars
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.ORCID-id: 0000-0003-4562-854X
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.ORCID-id: 0000-0001-7309-8086
2016 (engelsk)Inngår i: Proceedings - IEEE International Conference on Robotics and Automation, IEEE conference proceedings, 2016, s. 5242-5247, artikkel-id 7487733Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

We propose a distributed and cooperative motion and task control scheme for a team of mobile robots that are subject to dynamic constraints including inter-robot collision avoidance and connectivity maintenance of the communication network. Moreover, each agent has a local high-level task given as a Linear Temporal Logic (LTL) formula of desired motion and actions. Embedded graph grammars (EGGs) are used as the main tool to specify local interaction rules and switching control modes among the robots, which is then combined with the model-checking-based task planning module. It is ensured that all local tasks are satisfied while the dynamic constraints are obeyed at all time. The overall approach is demonstrated by simulation and experimental results.

sted, utgiver, år, opplag, sider
IEEE conference proceedings, 2016. s. 5242-5247, artikkel-id 7487733
Emneord [en]
Context sensitive grammars, Cooperative communication, Embedded systems, Formal languages, Graph theory, Model checking, Multipurpose robots, Robot programming, Robots, Temporal logic, Connectivity maintenance, Cooperative motion, Dynamic constraints, Linear temporal logic, Local interactions, Multi-robot systems, Robot collisions, Switching Control, Robotics
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-197242DOI: 10.1109/ICRA.2016.7487733ISI: 000389516204069Scopus ID: 2-s2.0-84977548788ISBN: 9781467380263 (tryckt)OAI: oai:DiVA.org:kth-197242DiVA, id: diva2:1052588
Konferanse
2016 IEEE International Conference on Robotics and Automation, ICRA 2016, 16 May 2016 through 21 May 2016
Merknad

QC  20161207

Tilgjengelig fra: 2016-12-07 Laget: 2016-11-30 Sist oppdatert: 2017-07-04bibliografisk kontrollert

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